EP0250862A1 - Verfahren und Vorrichtung zum Steuern eines Schrittmotors - Google Patents

Verfahren und Vorrichtung zum Steuern eines Schrittmotors Download PDF

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Publication number
EP0250862A1
EP0250862A1 EP87107571A EP87107571A EP0250862A1 EP 0250862 A1 EP0250862 A1 EP 0250862A1 EP 87107571 A EP87107571 A EP 87107571A EP 87107571 A EP87107571 A EP 87107571A EP 0250862 A1 EP0250862 A1 EP 0250862A1
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EP
European Patent Office
Prior art keywords
coil
rotor
short
driving pulse
circuit
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Granted
Application number
EP87107571A
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English (en)
French (fr)
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EP0250862B1 (de
Inventor
Daho Taghezout
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Asulab AG
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Asulab AG
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    • G—PHYSICS
    • G04—HOROLOGY
    • G04C—ELECTROMECHANICAL CLOCKS OR WATCHES
    • G04C3/00—Electromechanical clocks or watches independent of other time-pieces and in which the movement is maintained by electric means
    • G04C3/14—Electromechanical clocks or watches independent of other time-pieces and in which the movement is maintained by electric means incorporating a stepping motor

Definitions

  • the subject of the present invention is a method and a device for controlling a stepping motor having a coil and a rotor mechanically coupled to a mechanical load and comprising a permanent magnet magnetically coupled to the coil.
  • the process consists of: - applying a driving impulse to the coil each time the rotor must turn one step; - short-circuiting the coil for the first time at the end of the driving pulse - then to put the coil in open circuit; and - then put the coil a short circuit a second time until the start of the next driving pulse.
  • the device includes: - first means for causing the application of a driving pulse to the coil each time the rotor must turn one step; - second means for causing a first short-circuiting of the coil at the end of the driving pulse; - third means for bringing the coil into open circuit after the first short circuit; and - fourth means for causing a second short-circuiting of the coil after the open circuit.
  • Stepper motors of the kind mentioned above are well known. In particular, they equip most electronic timepieces with display by hands.
  • the motor rotor generally comprises a bipolar permanent magnet whose magnetization axis is perpendicular to the axis of rotation of the rotor.
  • This magnet is magnetically coupled to the motor coil by a stator which has a substantially cylindrical opening in which the rotor turns. Notches formed in the wall of this opening cause the application of a positioning torque to the rotor which tends to maintain it or bring it back into one or the other of two stable equilibrium positions.
  • control circuits of these motors are arranged so as to apply a driving pulse to the coil each time the rotor has to turn one step.
  • the duration of these motor pulses is fixed, which has the consequence that the quantity of electrical energy supplied to the motor during these motor pulses is substantially independent of the mechanical load which it drives.
  • the duration of the driving pulses must be sufficient for the rotor to rotate correctly even when the mechanical load which it causes has its maximum value.
  • This electrical energy is generally supplied, in particular in timepieces, by a power source having a limited capacity. Many devices have therefore been proposed to reduce the consumption of the engine.
  • All these devices include means for determining, in one way or another, the value of the mechanical load driven by the rotor, and for adjusting the amount of electrical energy supplied to the motor during the driving pulses to this value of mechanical load.
  • This adjustment of the amount of electrical energy supplied to the motor is generally carried out by modifying the duration of the motor pulses.
  • This duration can be determined directly during each driving pulse, as described, for example, in US Pat. No. 4,446,413.
  • a circuit measures, during each driving pulse, an electrical quantity depending on the mechanical load driven by the motor rotor. This circuit produces a signal which causes the interruption of the current driving pulse when certain conditions are fulfilled, these conditions being fixed by the constitution of this circuit.
  • the duration of the driving pulses can also be determined indirectly, as described, for example, in US Pat. No. 4,272,837.
  • a circuit measures, after the driving pulses, a characteristic electrical quantity which depends of the mechanical load that was driven by the rotor during these driving pulses. If the result of this measurement fulfills certain conditions which are also fixed by the constitution of the circuit, this indicates that the rotor has not rotated correctly in response to the previous driving pulses, and the measurement circuit produces a signal which causes the modification of the duration of the following motor pulses. If necessary, the signal produced by this circuit also causes the sending to the motor of one or more correction pulses intended to cause the rotor to execute the step or steps which it did not execute in response to the preceding pulses.
  • control devices are arranged so that the motor coil is short-circuited from the end of each driving pulse to the start of the next.
  • this short-circuiting of the motor coil is in particular to prevent the rotor from rotating by more than one step if, for whatever reason, the electrical energy supplied to the motor during a driving pulse is much greater as necessary, and to cause the application to the rotor, between the driving pulses, of an electrical braking torque in response to any untimely rotation of this rotor due, for example, to a shock.
  • This electrical braking torque is added to the positioning torque mentioned above to maintain the rotor in the position it occupies.
  • the duration of the driving pulses produced by the devices mentioned above is generally less than the time taken by the rotor to reach the angular position from which the positioning torque has a direction and a value such as it can cause, without contribution of external energy, the rotation of the rotor to the next of its stable equilibrium positions.
  • limit angular position in the rest of this description.
  • This limit angular position is not fixed, because it depends on the friction which opposes the rotation of the rotor and which are variable.
  • the rotor continues to turn in response, in particular, to its kinetic energy and to that of the various elements which it drives.
  • the short circuit of the coil from the end of the driving pulse allows the current to continue to flow therein.
  • Most of the magnetic energy present in the coil at the end of the driving pulse can therefore be transformed into mechanical energy which cooperates with the kinetic energy of the rotor and the elements which it drives to turn this rotor in direction of the limit angular position. Only part of this magnetic energy is dissipated as heat by the passage of current through the coil.
  • the rotor is therefore braked, and its kinetic energy must overcome the sum of the positioning torque, of two resistant couples due respectively to the friction of these mechanical elements with each other and their pivots in their bearings and to the magnetic phenomena of which the motor stator is the seat, and the torque caused by this electric braking.
  • the electrical energy that must be supplied to the motor for the rotor to rotate properly consists of a useful part, which is converted into mechanical energy, and of a part which can be described as useless and which is completely dissipated in the coil after the current in it has changed direction as described above.
  • the known methods and devices for controlling stepping motors therefore have the drawback of causing a substantial reduction in the efficiency of the motor.
  • the energy dissipated unnecessarily in the motor must of course be supplied by the power supply source of the device. It follows that, for a given capacity and therefore a volume of this source, its lifetime is significantly reduced or, for a given lifetime of this source, its volume is significantly increased.
  • US-A-4,467,255 describes a method of controlling a stepping motor according to which, contrary to what has been described above, the motor coil is placed in open circuit for a fixed time after the end of each driving pulse then short-circuited until the start of the next driving pulse.
  • the variation of the voltage induced in the coil by the rotation of the rotor after the end of the driving pulse is used to determine if the rotor has turned correctly in response to the previous driving pulses.
  • This method has the disadvantage that the magnetic energy present in the coil at the end of the driving pulse cannot be converted into mechanical energy since this coil is placed in open circuit at this time.
  • the rate of decrease of the current after the coil is short-circuited depends not only on the characteristics of the coil, but also on the speed that the rotor has reached at the end of the driving pulse. and therefore of the mechanical load driven by the rotor. This rate of decrease of the current is therefore variable. If the duration fixed for the first short circuit is less than the time taken for the current to cancel, part of the magnetic energy of the coil is not transformed into mechanical energy and is therefore lost. If, on the contrary, the duration fixed for the first short-circuit is greater than the time taken for the current to cancel, the latter changes sign and causes the unnecessary dissipation of energy described above.
  • the rotor therefore takes two steps instead of one.
  • An object of the present invention is to provide a method of controlling a stepping motor by which the above-mentioned drawbacks are eliminated, that is to say by which the efficiency of the motor is higher than with known methods, the lifetime of the power source of the device including this motor therefore being longer for a given volume of this source or, for a given lifetime of this source, its volume being lower, without however reducing the operating safety of the motor.
  • Another object of the present invention is to provide a device for implementing this method.
  • control circuits implementing the method according to the invention can be either of the type known as constant voltage or of the type known as constant current.
  • constant voltage circuits apply a substantially constant voltage to the motor coil for the duration of each driving pulse.
  • This constant voltage is generally that of the power source of the device equipped with this circuit.
  • constant current circuits pass a substantially constant current through the motor coil throughout the duration of each driving pulse.
  • circuits implementing the method according to the invention can either be of the type of those which produce motor pulses of fixed length or of the type of those which adjust the duration of these motor impulses in any of the many known ways.
  • Figures 1 and 2 illustrate the method according to the invention in a case, taken by way of nonlimiting example, where it is implemented by a circuit of the type known as constant voltage and which comprises means for adjusting the duration of each driving pulse depending on the mechanical load driven by the rotor during this same driving pulse.
  • the rotor turns in the direction of its second stable equilibrium position S2 in response to the motor torque produced by the passage of current i through the coil.
  • the motor control circuit interrupts the driving pulse at an instant t1 by removing the link between the source of the voltage Ua and the coil and by putting the latter in short-circuit.
  • the control circuit determines this instant tI in dependence on the mechanical load driven by the rotor, in a manner which depends on its constitution.
  • the rotor occupies an angular position designated by A1.
  • this position A1 is separated from the position S1 by an angle which is generally less than 60 °.
  • the current i flowing in the coil begins to decrease following a curve, designated by Ic in FIG. 1, whose shape depends on the characteristics of the coil, that is to say its resistance and its inductivity, as well as the voltage induced in the coil by the rotation of the rotor, that is to say the speed of this rotor and the coupling factor between its permanent magnet and coil.
  • the magnetic energy contained in the coil at time t1 is transformed into mechanical energy which contributes to turn the rotor in the direction of its position S2.
  • the current i flowing in the coil is measured, at least from the instant t1, and the instant when it becomes zero is detected. This instant is designated by t2 in FIG. 1.
  • control circuit eliminates the short circuit of the coil and puts the latter in open circuit.
  • the rotor which has reached at the instant t2 a position designated by A2 in FIG. 2, of course continues to rotate in the direction of the position S2.
  • this voltage Ui is measured, and the instant when it is canceled is detected. This instant is designated by t3 in FIG. 1.
  • the control circuit short-circuits the motor coil a second time.
  • the motor rotor has reached, at this instant t3, a position designated by A3 which is situated between its limit angular position defined above, designated by AL in FIG. 2, and its second stable equilibrium position S2.
  • the rotor therefore ends its rotation in response to its kinetic energy and to that of the elements it drives and to the positioning torque Cp.
  • the current induced in the coil by this rotation which is designated by Ii in Figure 1, causes electrical braking of the rotor.
  • This braking slows down the rotor which thus reaches its second stable equilibrium position S2 with a relatively low speed. After some possible oscillations, the rotor stops at this position S2 or in the immediate vicinity thereof.
  • the coil remains short-circuited until the start of the next driving pulse, from which the process described above is repeated. Between the driving pulses, the rotor is therefore kept properly in the stable equilibrium position where it is, as with known control methods, by the combined effect of the positioning torque Cp and the electric braking torque due to the short -coil circuit.
  • the motor control circuit can therefore be dimensioned so that the amount of electrical energy which must be supplied to the motor during the driving pulse is appreciably reduced compared to that which must be supplied to a motor controlled according to one of the known methods. .
  • the lifetime of this source is therefore appreciably increased, or, for a given lifetime, these dimensions are therefore significantly reduced.
  • the method according to the invention guarantees that the motor coil is only placed in open circuit when all the magnetic energy present in the coil at the end of the driving pulse, at time t1, was used and transformed into mechanical energy, with losses due to the passage of current through the coil.
  • the method according to the invention therefore also makes it possible to save electrical energy.
  • the method according to the invention also guarantees that, at the instant t3 when the motor coil is short-circuited, the position A3 occupied by the rotor is located between its limit angular position AL and its second position stable equilibrium S2.
  • the rotor can therefore certainly complete its pitch only in response to its positioning torque.
  • the position A3 is certainly far enough from the position S2 so that the rotor does not excessively exceed the latter and that it does not risk making an untimely additional step.
  • the method according to the invention therefore improves the operating safety of the engine compared to the method described in US-A-4,467,255.
  • Figures 1 and 2 also illustrate a variant of the method according to the invention. According to this variant, it is the instant t3 ⁇ when the induced voltage Ui reaches a predetermined value Ud which is detected while the coil is in open circuit, after the instant t2, and not the instant t3 when this voltage Ui becomes zero, and the coil is short-circuited at this instant t3 ⁇ .
  • FIG. 3 represents, by way of nonlimiting example, the diagram of a circuit implementing the first method according to the invention described above.
  • This circuit is part of an electronic timepiece whose display means, not shown, consist of needles or discs and are driven by a stepping motor of the type described above, symbolized by its coil. 1 and the permanent magnet 2 of its rotor.
  • the circuit of FIG. 3 comprises a conventional driving pulse trainer comprising four MOS transistors Tr1, Tr2, Tr3 and Tr4.
  • the transistors Tr1 and Tr2 are of type p, and their source is connected to the positive pole of a power source, not shown. This positive pole is symbolized by the + sign.
  • the transistors Tr3 and Tr4 are of type n, and their source is connected, via a resistor 3 of low value, to the negative pole of the power source symbolized by the sign -.
  • the role of resistance 3 will be described later.
  • the drains of the transistors Tr1 and Tr3 are connected, together, to one of the terminals of the coil 1, and the drains of the transistors Tr2 and Tr4 are connected, together, to the other terminal of this coil 1.
  • transistors Tr3 and Tr4 are blocked when their control electrode is in logic state "0" and conductors when their control electrode is in state "1".
  • the transistors Tr1 and Tr2, on the other hand, are blocked when their control electrode is in logic state "1" and conductive when their control electrode is in logic state "0".
  • the sources of the transistors Tr3 and Tr4 are connected to the input of a circuit 4 for determining the duration of each driving pulse depending on the mechanical load driven by the rotor of the stepping motor during this driving pulse.
  • This circuit 4 is for example similar to that which is described in patent US-A-4,446,413 already mentioned.
  • This last circuit continuously calculates, during each driving pulse, the value of the voltage induced in the coil 1 by the rotation of the magnet 2 of the rotor. It performs this calculation from the voltage produced at the terminals of the resistor 3 by the current flowing in this coil 1.
  • This circuit determines the value of the mechanical load driven by the rotor by measuring the time taken by this induced voltage to reach a predetermined value. It then determines the optimum instant at which the driving pulse must be interrupted as a function of this measured time, and produces at its output a signal which takes the state "1" at this optimum instant.
  • the terminals of the coil 1 are connected to the non-inverting input of a differential amplifier 5 via two transmission gates 6 and 7. This non-inverting input is also connected to the negative pole - of the source supply by a resistor 8. The inverting input of amplifier 5 is directly connected to this negative pole -.
  • the terminals of the coil 1 are also connected to the drains of two MOS transistors Tr5 and Tr6, of type n, the sources of which are connected together to the non-inverting input of a differential amplifier 9 and, via a resistor 10, to the negative pole - of the power source.
  • the inverting input of this amplifier 9 is connected directly to this negative pole -.
  • Amplifiers 5 and 9 both have a large amplification, so that their output takes the potential of the positive pole + of the power source, ie the logic state "1", as soon as their input non-inverting has a positive potential compared to the potential of the negative pole - of this source.
  • the output of these amplifiers 5 and 9 is at the potential of the negative pole - of the power source, that is to say in the logic state "0", when the potential of their non-inverting input is equal to potential of their inverting input, or negative with respect to the latter.
  • the transmission doors 6 and 7 are blocked when their control electrode is in the logic state "0", and conductive when their control electrode is in the logic state "1".
  • the control electrodes of the transistors Tr1 to Tr6 and of the transmission doors 6 and 7 are connected to the outputs of a logic circuit L comprising the doors 0U 11 to 15 and the doors AND 16 to 21.
  • the inputs of the gates 15 to 21, which constitute the inputs of the logic circuit L, are connected to the outputs of a sequential circuit S comprising the flip-flops 22 to 27, the AND gates 28 to 31 and the inverters 32 and 33.
  • the flip-flops 22 to 27 are all of type T, that is to say that their output Q changes state each time their clock input C goes from logic state "0" to logic state "1", provided, however, that their reset input R is in logic state "0". If this input R is in state "1", their output Q is maintained in state "0" regardless of the state of their input C.
  • the inputs of the sequential circuit S are connected to the outputs of the circuit 4 for determining the duration of the driving pulses, of the amplifiers 5 and 9, and of a frequency divider 34 which forms, with an oscillator 35, the time base. of the timepiece.
  • the diagrams designated by the references S34, S4, S5 and S9 respectively represent the logic states of the outputs of the frequency divider 34, of the circuit 4 and of the amplifiers 5 and 9.
  • the diagrams designated by Q22 to Q27 represent respectively the logical states of the outputs Q of the flip-flops 22 to 27.
  • the diagrams designated by Tr1 to Tr6, 6 and 7 respectively represent the blocked state, identified by the reference b, or the conductive state, identified by the reference c, transistors Tr1 to Tr6 and transmission gates 6 and 7.
  • the instants t0 to t3 indicated in FIG. 4 are identical to the instants t0 to t3 in FIG. 1.
  • the coil 1 is therefore short-circuited through the transistors Tr1 and Tr2.
  • the electric braking due to this short circuit is added to the effect of the positioning torque of the rotor to maintain it in the stable equilibrium position it occupies. It will be assumed that, at the start of this description, this position is that which is designated by S1 in FIG. 2.
  • the frequency divider 34 delivers a pulse each time the rotor of the motor must turn one step, that is to say, for example, every second.
  • a driving pulse is therefore applied to the coil 1, the terminals of which are respectively connected to the positive pole + of the power source through the transistor Tr1 and to the negative pole - of this source through the transistor Tr4 and the resistor 3.
  • a current begins to flow in the coil 1 in response to this driving pulse, in the direction indicated by the arrow designated by I, and the rotor of the motor begins to rotate.
  • a voltage proportional to this current is applied to the input of circuit 4 for determining the duration of the driving pulse.
  • the Q output of the flip-flop 23 returns to the "0" state and the Q output of the flip-flop 24 changes to the "1" state.
  • the current still flowing in the coil 1 produces a motor torque which is added to the torque due to the inertia of the rotor and of the mechanical elements which it drives to continue to rotate the rotor.
  • the rotor of the motor continues however to turn in response to its kinetic energy and that of the mechanical elements which it drives, but it is not braked electrically since no current no longer circulates in the coil 1 from the moment t2.
  • the kinetic energy of this rotor and of the mechanical elements which it drives must therefore overcome only the sum of the torque of positioning Cp and resistant couples of magnetic and mechanical origin mentioned above. From the limit angular position AL, the positioning torque, which has changed direction, is added to that produced by the remaining kinetic energy to rotate the rotor.
  • FIG. 3 A variant of the circuit described above is also shown in FIG. 3.
  • the inverting input of the amplifier 5 is not connected to the negative pole - of the power source, but to a source of a reference voltage constituted, for example, by a voltage divider formed two resistors connected in series between the positive + and negative - poles of the power source of the device. These resistors are drawn in dotted lines in FIG. 3, with the references 36 and 37.
  • resistors 36 and 37 have a value such that the voltage which they apply to the non-inverting input of the amplifier 5 is the voltage Ud mentioned above.
  • this variant of the circuit of FIG. 3 allows the implementation of the variant described above of the method according to the invention. Indeed, in this variant of the circuit, the output of the amplifier 5 goes to state "0" at the instant when the voltage induced in the coil 1 while the latter is in open circuit reaches the value Ud, that is to say the instant t3 ⁇ .
  • the present invention also applies well to the control of any kind of stepping motor, whether the latter comprises one or more coils and / or a bipolar or multipolar permanent magnet coupled to the coil by a stator or without a stator.
  • the invention also applies well whatever the manner of controlling this motor, that is to say by driving pulses all having the same polarity or having alternating polarities.
  • the motor control circuit may include a circuit 4 for determining the length of the driving pulses of a different kind from that which has been described.
  • This circuit 4 can be of the kind which determine the mechanical load driven by the rotor after the end of the driving pulses and which adjust the duration of the following driving pulses in dependence on this mechanical load.
  • This circuit 4 may also not exist.
  • the input of circuit S which is connected in the example described above to the output of circuit 4 can then, for example, be connected to an output of the frequency divider 34 delivering a signal at times separated from each instant t0 by a fixed period of time.
  • Such a connection is shown in dotted lines in FIG. 3, with the reference 4a.
  • the duration of the motor pulses is obviously fixed and equal to the duration of the lapse of time mentioned above.
  • the device comprising a motor controlled according to the present invention may not be a timepiece. It can be, for example, a device measuring any physical quantity, such as a temperature or a pressure, and displaying the value of this physical quantity using one or more needles driven in rotation by the motor in front of a dial. In such a case, the pulses causing the application of the driving pulses to the motor coil are obviously not necessarily periodic.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Control Of Stepping Motors (AREA)
  • Electromechanical Clocks (AREA)
EP87107571A 1986-06-26 1987-05-25 Verfahren und Vorrichtung zum Steuern eines Schrittmotors Expired EP0250862B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CH2585/86 1986-06-26
CH258586A CH665084GA3 (de) 1986-06-26 1986-06-26

Publications (2)

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EP0250862A1 true EP0250862A1 (de) 1988-01-07
EP0250862B1 EP0250862B1 (de) 1989-11-29

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EP87107571A Expired EP0250862B1 (de) 1986-06-26 1987-05-25 Verfahren und Vorrichtung zum Steuern eines Schrittmotors

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US (1) US4754210A (de)
EP (1) EP0250862B1 (de)
JP (1) JP2655645B2 (de)
CH (1) CH665084GA3 (de)
DE (1) DE3761064D1 (de)

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DE10137676B4 (de) * 2001-08-01 2007-08-23 Infineon Technologies Ag ZVS-Brückenschaltung zum entlasteten Schalten
JP4751573B2 (ja) * 2003-12-12 2011-08-17 シチズンホールディングス株式会社 アナログ電子時計
DE102004040052A1 (de) * 2004-08-18 2006-06-01 Siemens Ag Stromgeregelter Umrichter und Verfahren zum Steuern desselben
US7598517B2 (en) * 2006-08-25 2009-10-06 Freescale Semiconductor, Inc. Superjunction trench device and method
RU2729322C1 (ru) * 2019-10-21 2020-08-06 Федеральное государственное унитарное предприятие "Научно-производственный центр автоматики и приборостроения имени академика Н.А. Пилюгина" (ФГУП "НПЦАП") Устройство для управления шаговым мотором

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4467255A (en) * 1979-07-09 1984-08-21 Societe Suisse Pour L'industrie Horlogere Management Services S.A. Position detector for a stepping motor
EP0128865A1 (de) * 1983-05-24 1984-12-19 Société industrielle de Sonceboz S.A. Verfahren zur Verbesserung der Dämpfung bei der Stillegung eines Polyphasenmotors, insbesondere eines Schrittmotors, und Anordnung für die Durchführung des Verfahrens

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5412865A (en) * 1977-06-30 1979-01-30 Seiko Epson Corp Electronic wristwatch
JPS561799A (en) * 1979-06-19 1981-01-09 Seiko Instr & Electronics Ltd Circuit for sensing rotation of electronic clock motor
JPS5619473A (en) * 1979-07-27 1981-02-24 Citizen Watch Co Ltd Electronic timepiece

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4467255A (en) * 1979-07-09 1984-08-21 Societe Suisse Pour L'industrie Horlogere Management Services S.A. Position detector for a stepping motor
EP0128865A1 (de) * 1983-05-24 1984-12-19 Société industrielle de Sonceboz S.A. Verfahren zur Verbesserung der Dämpfung bei der Stillegung eines Polyphasenmotors, insbesondere eines Schrittmotors, und Anordnung für die Durchführung des Verfahrens

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
10ième CONGRES INTERNATIONAL DE CHRONOMETRIE, no. 3, septembre 1979, pages 53-59, Büren, CH; J.-L. BEGUIN: "Générateur de signaux programmables" *
PATENT ABSTRACTS OF JAPAN, vol. 5, no. 51 (E-51)[723], 10 avril 1981; & JP-A-56 001 799 (DAINI SEIKOSHA K.K.) 09-01-1981 *

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JP2655645B2 (ja) 1997-09-24
DE3761064D1 (de) 1990-01-04
US4754210A (en) 1988-06-28
CH665084GA3 (de) 1988-04-29
EP0250862B1 (de) 1989-11-29
JPS637199A (ja) 1988-01-13

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